Force feedback control of tele-operated construction robot based on regression model

In order to obtain the load force accurately,a force feedback control method for tele-operated construction robot based on multivariate nonlinear regression model of no-load driving force was proposed.The model was established using the data of kinetic parameters obtained from running the robot on no-load condition.Subsequently,the model was used on-line to identify no-load driving force in order to obtain the load force.The proposed method was compared experimentally with the conventional force feedback control.It was proved that the novel method is simple and effective,and can increase the relative accuracy rating by 76% and improve the synchronization of force-feedback.The study provides a beneficial reference for improving the force feedback control performance of tele-operated construction robot.